WO2022198809A1 - 一种基于球关节驱动的穿刺手术机器人主手及其系统 - Google Patents

一种基于球关节驱动的穿刺手术机器人主手及其系统 Download PDF

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WO2022198809A1
WO2022198809A1 PCT/CN2021/100279 CN2021100279W WO2022198809A1 WO 2022198809 A1 WO2022198809 A1 WO 2022198809A1 CN 2021100279 W CN2021100279 W CN 2021100279W WO 2022198809 A1 WO2022198809 A1 WO 2022198809A1
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motor
drive motor
linear
ball joint
puncture
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French (fr)
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白坤
李孟轲
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots

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  • the invention belongs to the technical field of surgical robots, and more particularly, relates to a main hand of a puncture surgical robot driven by a ball joint and a system thereof.
  • the surgical robot used for surgery in the medical robot system usually adopts a master-slave manipulator.
  • the operator drives the movement of the slave hand at the end of the master hand by operating the robot master hand.
  • By measuring the motion information of each joint of the master hand it is mapped to the slave hand at the end. , drive the slave hand to achieve the corresponding movement.
  • the degrees of freedom used to control the needle insertion of the robot mainly include two rotational degrees of freedom and one linear degree of freedom, of which two rotational degrees of freedom are required to control the attitude angle of the puncture needle on the puncture robot.
  • the linear degrees of freedom are used to control the depth of needle insertion.
  • the traditional surgical robot master hand device generally adopts a series structure similar to a mechanical manipulator to achieve multi-degree-of-freedom motion and force feedback.
  • This kind of translation and rotation coupling mechanism is prone to the interaction of displacement and attitude commands during control, and The realization of each degree of freedom needs to correspond to a joint. Multiple degrees of freedom are multiple joints, and the movements between the joints are easy to influence each other.
  • the overall structure is complex. When providing force feedback, it is difficult for the operator to accurately feel and distinguish between force and torque. This brings great inconvenience to the operation of the puncture operation, and also brings a certain influence to the precision of the puncture operation.
  • the present invention provides a main hand of a puncture surgery robot driven by a ball joint and a system thereof.
  • the rotation and linear motion of the motor are transmitted to the puncture needle to control the posture and depth of the puncture needle during the puncture process and improve the surgical precision during the puncture process; on the other hand, when the puncture needle is resisted, the ball joint drives the motor and linear drive.
  • a corresponding current is passed into the motor coil to generate an electromagnetic force equivalent to the resistance.
  • the electromagnetic force is transmitted to the handle as a resistance to realize force feedback and improve the experience and immersion of the operator of the puncture operation.
  • a main hand of a puncture surgery robot driven by a ball joint includes a handle, a linear drive motor and a ball joint drive motor, wherein,
  • the handle is fixedly connected to the linear drive motor, and the ball joint drive motor is fixedly connected to the lower end of the linear drive motor.
  • the axial force drives the linear drive
  • the motor makes an axial linear motion along the axial direction, and the axial stroke of the linear drive motor is used as the stroke command of the puncture robot's slave hand;
  • the rotational force drives the ball joint drive motor to revolve around it.
  • the center of the ball rotates, and the rotational posture of the ball joint drive motor is used as the posture control command of the slave hand of the puncture robot.
  • the ball joint drive motor includes a spherical rotor and a ball motor stator arranged at the center of the spherical rotor, and the ball motor stator is connected with the spherical rotor so as to draw the spherical rotor around the ball.
  • the motor stator rotates.
  • the spherical rotor and the ball motor stator are connected by a ball joint
  • the ball joint includes a spherical part and a long handle part
  • the spherical part is arranged at the center of the ball motor stator, so One end of the long handle part is connected with the spherical ball, and the other end is connected with the spherical rotor.
  • the robot main hand further includes a base, and an opening is provided on the spherical rotor, and at the opening, the ball motor stator is disconnected from the spherical rotor and connected to the base.
  • the ball joint drive motor includes a ball motor permanent magnet and a ball motor coil
  • the ball motor coils are evenly distributed on the inner surface of the spherical rotor
  • the ball motor stator is arranged inside the spherical rotor.
  • the ball motor permanent magnets correspond to the ball motor coils one-to-one, and are evenly distributed on the ball motor stator.
  • An electromagnetic force is generated between the permanent magnets of the motor, and the electromagnetic force is fed back to the handle as a resistance, so as to sense the resistance at different positions of the puncture needle in the circumferential direction.
  • the linear drive motor includes a linear motor housing, a linear motor coil and a linear motor permanent magnet
  • the linear motor housing is linear
  • the linear motor coils are evenly distributed in the linear motor housing
  • the linear motor is permanent.
  • the magnet is arranged on the coil of the linear motor and is opposite to the coil of the linear motor
  • the handle is fixedly connected with the permanent magnet of the linear motor, and a force is applied on the handle to drive the permanent magnet of the linear motor to drive along the straight line
  • the axial direction of the motor performs linear motion; when a current is passed into the linear motor coil, an electromagnetic force is generated between the linear motor coil and the permanent magnet and fed back to the handle, so as to sense that the puncture needle is affected in the depth direction. resistance.
  • a puncture surgical robot system includes the above-mentioned robot main hand, a sensor, a controller, a surgical robot and a puncture needle, wherein:
  • the sensor is connected with the main hand of the robot, and is used to collect the stroke and attitude information of the linear drive motor and the spherical drive motor, and transmit the stroke and attitude information to the controller;
  • the controller is connected with the sensor and the robot slave hand at the same time, and is used for converting the information collected by the sensor into an operation instruction of the robot slave hand;
  • the robot is used to hold the puncture needle by hand, and drives the puncture needle to perform a puncture operation according to the operation instruction.
  • the robot system further includes a resistance sensor, which is used to measure the resistance received by the puncture needle, and transmit the measured resistance to the controller; the controller converts the resistance into an electrical signal according to the resistance , and pass the corresponding current into the linear drive motor and the ball joint drive motor according to the electrical signal, so as to form an electromagnetic force corresponding to the resistance in the linear drive motor and the ball joint drive motor, and realize the force feedback of.
  • a resistance sensor which is used to measure the resistance received by the puncture needle, and transmit the measured resistance to the controller
  • the controller converts the resistance into an electrical signal according to the resistance , and pass the corresponding current into the linear drive motor and the ball joint drive motor according to the electrical signal, so as to form an electromagnetic force corresponding to the resistance in the linear drive motor and the ball joint drive motor, and realize the force feedback of.
  • the present invention is used to solve the problems of redundancy of degrees of freedom and difficulty in realizing the decoupling between position and attitude in the application of the main hand of the traditional surgical robot in puncture surgery.
  • the hand device makes it possible to directly control the posture of the puncture needle at the end of the surgical robot and the depth of needle insertion through the spherical joint drive motor and the linear drive motor on the main hand of the surgical robot. Simplify the structure, but retain the original multi-degree-of-freedom function;
  • the spherical rotor by connecting the spherical rotor and the ball motor stator through ball joints, the spherical rotor is drawn to rotate around the ball motor stator, and the stator is kept from rotating.
  • the motor rotor is disconnected, on the other hand, the ball motor rotor is connected to the base at the opening, so that the spherical rotor cannot rotate to the opening, which limits the degree of freedom of the spherical rotor and prevents the spherical drive motor from controlling the puncture depth of the puncture needle;
  • the spherical drive motor and the linear drive motor in the present invention both include coils and magnets, which are not just to transmit the force on the handle to control the puncture depth and posture of the puncture needle.
  • the puncture needle is resisted during the puncture process, the The corresponding current is passed into the coil, and the resistance is simulated by the electromagnetic force generated between the coil and the magnet, so as to realize the force feedback;
  • the present invention realizes the decoupling between the position and the multi-degree-of-freedom attitude through the structure of the ball joint drive and the linear drive motor in series, the structure is simpler, and the main hand command is more accurate; Compared with the traditional surgical robot master hand, this direct drive control method can provide higher-precision feedback force and feedback torque, which can better meet the needs of puncture surgery. Robot master hand requirements.
  • FIG. 1 is a schematic structural diagram of the main hand of a puncture surgery robot based on a ball joint drive constructed according to a preferred embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a ball joint drive motor constructed according to a preferred embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a linear drive motor constructed according to a preferred embodiment of the present invention.
  • 1-Ball joint drive motor 2-Linear drive motor, 3-Puncture needle, 4-Spherical rotor, 5-Ball motor permanent magnet, 6-Ball motor coil, 7-Ball motor stator, 8-Ball joint, 9-Base Seat, 10-Linear motor housing, 11-Linear motor permanent magnet, 12-Linear motor coil, 13-Handle.
  • Figure 1 is a schematic diagram of the main hand of a puncture surgical robot driven by ball joints.
  • the main hand of a surgical robot driven by ball joints includes the following structures: a ball joint drive motor 1 and a linear drive motor 2 .
  • Both the ball joint drive motor 1 and the linear drive motor 2 include electromagnetic coils and permanent magnets arranged on the stator and the rotor, respectively.
  • the ball joint drive motor and the linear drive motor are driven to perform rotational and linear motion respectively, and can also provide feedback torque and feedback force of the puncture surgical robot.
  • Figure 2 is a schematic diagram of the puncturing process of the robot's main hand.
  • the main hand of the puncture robot provided by the present invention consists of a straight line.
  • the drive motor 2 is composed of a ball joint drive motor 1, wherein the linear drive motor 2 is used to control the linear degree of freedom of the puncture needle 3 at the end of the puncture surgical robot, that is, the puncture depth; the ball joint drive motor 1 is used to control the end of the puncture surgical robot.
  • the puncture needle 3 rotational degrees of freedom, that is, the posture of the puncture needle.
  • the attitude angle of the puncture needle at the end of the puncture surgical robot can be controlled by inputting the attitude of the puncture robot to the end of the surgical robot.
  • the measuring element connected to the linear drive motor 2 measures the current position of the linear motor. state, and transmit the obtained state to the end of the robot, the control of the puncture depth of the puncture needle 3 at the end of the puncture surgery robot can be realized. Torque feedback for rotational degrees of freedom and force feedback for linear degrees of freedom for surgical robots.
  • FIG. 3 shows a schematic structural diagram of a ball joint drive motor.
  • the ball joint drive motor consists of a ball motor stator 7 , a ball motor coil 6 , a ball motor permanent magnet 5 , a spherical rotor 4 and a base 9 .
  • the ball motor stator 7 is provided with a ball motor permanent magnet 5
  • the spherical rotor 4 is provided with a spherical motor coil 6.
  • the ball joint motor 1 can be driven.
  • the spherical rotor 4 and the ball motor stator 7 are connected by a ball joint 8 .
  • the current posture of the spherical rotor 4 is measured by the ball joint driving the motor posture measuring element, and then the driving current and voltage required for self-weight balance can be calculated by the ball joint, so that the main hand of the puncture surgical robot can be static at any position.
  • the driving voltage required by the ball joint drive motor can be solved, and the master-slave torque feedback control of the surgical robot can be realized through the reverse drive of the master hand.
  • the driving method of the linear drive motor shown in FIG. 4 is the same as that of the ball joint drive motor.
  • the linear drive motor is composed of a linear motor housing 10, a linear motor permanent magnet 11, a linear motor coil 12, and a handle 13.
  • the linear motor housing 10 is provided with a linear motor coil 12, and the handle 13 is provided with a linear motor.
  • the motor permanent magnet 11 can drive the linear motor to move in the direction of the linear degree of freedom through the action of electromagnetic force between the linear motor coil 12 and the linear motor permanent magnet 11 .
  • the driving voltage required by the linear drive motor can be solved, and the master-slave force feedback control of the surgical robot in the direction of the linear degree of freedom can be realized through the reverse drive of the master hand.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
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Abstract

本发明属于手术机器人相关技术领域，并公开了一种基于球关节驱动的穿刺手术机器人主手及其系统。该机器人主手包括手柄、直线驱动电机和球关节驱动电机，其中，手柄固定连接于直线驱动电机上，球关节驱动电机固定连接于直线驱动电机的下端，当手柄上施加轴向力时，该轴向力驱动直线驱动电机沿轴向做轴向直线运动，直线驱动电机的轴向行程作为穿刺机器人从手的行程指令；当手柄上施加旋转力时，该旋转力带动球关节驱动电机绕其自身球心旋转，球关节驱动电机的旋转姿态作为穿刺机器人从手的姿态控制指令。通过本发明，实现穿刺针穿刺过程中姿态和深度的控制，提高穿刺过程中的手术精度；实现力的反馈，提高穿刺手术的操作者的体验感和沉浸感。

Description

一种基于球关节驱动的穿刺手术机器人主手及其系统 技术领域
本发明属于手术机器人相关技术领域，更具体地，涉及一种基于球关节驱动的穿刺手术机器人主手及其系统。
背景技术
医疗机器人系统中用于手术的手术机器人通常采用主从式机械臂，操作者通过操作机器人主手带动主手末端的从手运动，通过测量主手各关节的运动信息，映射到末端的从手，驱动从手实现相应运动。
在穿刺手术机器人的实际应用中，用于控制机器人进针的自由度主要有两个转动自由度及一个线性自由度，其中两个转动自由度需要用于控制穿刺机器人上穿刺针的姿态角度，线性自由度用于控制穿刺针进针的深度。同时，穿刺针所受到的在进针方向上的作用力以及侧向力产生的合力矩需要实时地在主手端反馈从而让操作者感觉到并调整进针的方向。
传统的手术机器人主手装置普遍采用类似机械操作臂的串联结构实现多自由度的运动以及力的反馈，这种平移和旋转耦合的机构在控制时容易出现位移和姿态命令相互影响的情况，且每个自由度的实现均需对应一个关节，多自由度就是多个关节，且关节间运动易相互影响，整体结构复杂，在提供力反馈时也使得操作者难以准确感觉并区分力和力矩，这给穿刺手术的操作带来极大的不便，也给穿刺手术的精度带来了一定的影响。
发明内容
针对现有技术的以上缺陷或改进需求，本发明提供了一种基于球关节驱动的穿刺手术机器人主手及其系统，通过球关节驱动电解和直线驱动电机配合作用，一方面将球关节和直线电机的旋转和直线运动传递给穿刺针， 实现穿刺针穿刺过程中姿态和深度的控制，提高穿刺过程中的手术精度；另一方面，在穿刺针受到阻力时，在球关节驱动电机和直线驱动电机线圈中通入相应的电流，产生与阻力相当的电磁力，该电磁力作为阻力传递给手柄，实现力的反馈，提高穿刺手术的操作者的体验感和沉浸感。
为实现上述目的，按照本发明，提供了一种基于球关节驱动的穿刺手术机器人主手，该穿刺机器人主手包括手柄、直线驱动电机和球关节驱动电机，其中，
所述手柄固定连接于所述直线驱动电机上，所述球关节驱动电机固定连接于所述直线驱动电机的下端，当所述手柄上施加轴向力时，该轴向力驱动所述直线驱动电机沿轴向做轴向直线运动，所述直线驱动电机的轴向行程作为穿刺机器人从手的行程指令；当所述手柄上施加旋转力时，该旋转力带动所述球关节驱动电机绕其自身球心旋转，所述球关节驱动电机的旋转姿态作为穿刺机器人从手的姿态控制指令。
进一步优选地，所述球关节驱动电机包括球形转子和设置在该形转子球心处的球电机定子，所述球电机定子与所述球形转子连接，以此牵引所述球形转子绕所述球电机定子旋转。
进一步优选地，所述球形转子和球电机定子之间通过球关节连接，该球关节包括圆球部分和与长柄部分，所述圆球部分设置在所述球电机定子的球心处，所述长柄部分一端与所述圆球连接，另一端与所述球形转子连接。
进一步优选地，所述机器人主手还包括基座，所述球形转子上设置有开口，在该开口处，所述球电机定子与所述球形转子断开连接，与所述基座连接。
进一步优选地，所述球关节驱动电机包括还包括球电机永磁体和球电机线圈，所述球电机线圈均匀分布在所述球形转子的内表面，所述球电机定子设置在所述球形转子内部，所述球电机永磁体一一对应所述球电机线 圈，均匀分布在所述球电机定子上，在不同位置处的所述球电机线圈中通入电流后，该球形电机线圈与其对应的球形电机永磁体之间产生电磁力，该电磁力作为阻力反馈至所述手柄上，以此感知所述穿刺针圆周方向上不同位置处受到的阻力。
进一步优选地，所述直线驱动电机包括直线电机外壳、直线电机线圈和直线电机永磁体，所述直线电机外壳呈线性，所直线电机线圈均匀分布在所述直线电机外壳内，所述直线电机永磁体设置在所述直线电机线圈上，且与所述直线电机线圈相对设置，所述手柄与所述直线电机永磁体固定连接，在手柄上施加力，带动所述直线电机永磁体沿该直线驱动电机的轴向进行直线运动；在所述直线电机线圈中通入电流，直线电机线圈和永磁体之间产生电磁力并反馈至所述手柄上，以此感知所述穿刺针在深度方向上受到的阻力。
按照本发明的另一个方面，提供了一种穿刺手术机器人系统，该机器人系统包括上述所述的机器人主手、传感器、控制器、手术机器人和穿刺针，其中：
所述传感器与所述机器人主手相连，用于采集所述直线驱动电机和球形驱动电机的行程和姿态信息，并将该行程和姿态信息传递给所述控制器；
所述控制器同时与所述传感器和机器人从手连接，用于将所述传感器采集的信息转化为所述机器人从手的操作指令；
所述机器人从手用于夹持所述穿刺针，并根据所述操作指令带动所述穿刺针进行穿刺手术。
进一步优选地，该机器人系统还包括阻力传感器，该阻力传感器用于测量所述穿刺针受到的阻力，并将测量的阻力传递给所述控制器；所述控制器根据所述阻力转化为电信号，并依据该电信号向所述直线驱动电机和球关节驱动电机中通入相应的电流，以此在所述直线驱动电机和球关节驱动电机中形成与所述阻力相应的电磁力，实现力的反馈。
总体而言，通过本发明所构思的以上技术方案与现有技术相比，具备下列有益效果：
1.本发明用于解决传统手术机器人主手应用在穿刺手术中自由度冗余及难以实现位置与姿态间解耦的问题，为此设计了一种基于球关节驱动以及直线驱动的手术机器人主手装置，使得通过手术机器人主手上的球形关节驱动电机与直线驱动电机，直接控制穿刺手术机器人末端穿刺针的姿态与进针深度，避免通过多关节串联，以及关节之间运动彼此相互影响，简化结构，但保留原有的多自由度功能；
2.本发明中通过将球形转子与球电机定子通过球关节连接，牵引球形转子绕球电机定子转动，并保持定子不自转，另外，通过球形转子上设置开口，一方面开口处球形转子与球电机转子断开连接，另一方面开口处球电机转子与基座连接，使得球形转子不能旋转至开口处，限制球形转子的自由度，避免球形驱动电机控制穿刺针的穿刺深度；
3.本发明中的球形驱动电机和直线驱动电机均包括线圈和磁铁，其并不仅仅是传递手柄上的力控制穿刺针的穿刺深度和姿态，在穿刺针在穿刺过程中受到阻力时，在线圈中通入相应的电流，通过线圈和磁铁之间产生的电磁力模拟受到的阻力，实现力的反馈；
4.本发明比起传统的手术机器人主手，通过球关节驱动与直线驱动电机串联的结构，实现了位置与多自由度姿态间的解耦，结构更简单，主手命令更准确；采用直驱的方式，可实现手术机器人主从端的力反馈功能，与传统的手术机器人主手相比，这种直驱控制方式能够提供更高精度的反馈力以及反馈力矩，更好地满足了穿刺手术对机器人主手的要求。
附图说明
图1是按照本发明的优选实施例所构建的基于球关节驱动的穿刺手术机器人主手的结构示意图；
图2是按照本发明的优选实施例所构建的机器人主手控制操作末端穿 刺过程示意图；
图3是按照本发明的优选实施例所构建的球关节驱动电机的结构示意图；
图4是按照本发明的优选实施例所构建的直线驱动电机的结构示意图。
在所有附图中，相同的附图标记用来表示相同的元件或结构，其中：
1-球关节驱动电机，2-直线驱动电机，3-穿刺针，4-球形转子，5-球电机永磁体，6-球电机线圈，7-球电机定子，8-球关节，9-基座，10-直线电机外壳，11-直线电机永磁体，12-直线电机线圈，13-手柄。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
如图1所示是基于球关节驱动的穿刺手术机器人主手结构示意图，球关节驱动的手术机器人主手包括以下结构：球关节驱动电机1，直线驱动电机2。球关节驱动电机1以及直线驱动电机2中均包括定子与转子上分别布置有电磁线圈与永磁体，当电磁线圈通电后，通过定子上电磁线圈与转子上永磁体之间电磁力的作用，可以驱动球关节驱动电机以及直线驱动电机分别进行旋转和直线运动，同时也能够提供穿刺手术机器人在反馈力矩及反馈力。
如图2所示是机器人主手穿刺过程示意图，穿刺手术机器人在进行经皮穿刺时，需要控制穿刺针3穿入角度以及穿刺针3的穿刺深度，本发明提供的穿刺机器人主手由一个直线驱动电机2和一个球关节驱动电机1构成，其中直线驱动电机2用于控制穿刺手术机器人末端穿刺针3的线性自由度，即穿刺深度；球关节驱动电机1用于控制穿刺手术机器人末端穿刺 针3的转动自由度，即穿刺针的姿态。
与机器人主手的球关节驱动电机1和直线驱动电机2分别相连的有测量元件，在转动穿刺机器人主手时，与球关节驱动电机相连的测量元件测量得到的当前状态下的球关节驱动电机的姿态输入至手术机器人末端，即可实现对穿刺手术机器人末端穿刺针的姿态角度控制；同理，在上下驱动直线驱动电机2时，与该直线驱动电机2相连的测量元件测量直线电机的当前状态，并将获得的状态传递给机器人末端，即可实现对穿刺手术机器人末端穿刺针3的穿刺深度的控制，通过球关节驱动电机1所提供的驱动力矩以及直线电机的驱动力，可实现穿刺手术机器人的转动自由度力矩反馈以及线性自由度的力反馈。
图3所示的是球关节驱动电机的结构示意图，如图中所示，该球关节驱动电机由球电机定子7、球电机线圈6，球电机永磁体5、球形转子4和基座9构成，球电机定子7的上面设置有球电机永磁体5，球形转子4上设置有球形电机线圈6，通过球电机线圈6及球电机永磁体5之间的电磁力作用，可以驱动球关节电机1进行转动，球形转子4和球电机定子7之间通过球关节8连接。通过球关节驱动电机姿态测量元件测得球形转子4当前的姿态，再通过球关节实现自重平衡所需的驱动电流、电压的解算，即可实现穿刺手术机器人主手在任意位置静止的功能。通过穿刺手术机器人从端的反馈力测量元件，即可对球关节驱动电机所需的驱动电压进行求解，通过主手的反向驱动实现手术机器人的主从力矩反馈控制。
图4所示的直线驱动电机的驱动方式与球关节驱动电机同理。如图中所示，该直线驱动电机由直线电机外壳10、直线电机永磁体11，直线电机线圈12，手柄13构成，直线电机外壳10的上面设置有直线电机线圈12，手柄13上设置有直线电机永磁体11，通过直线电机线圈12与直线电机永磁体11之间的电磁力作用，可以驱动直线电机进行线性自由度方向上的移动。通过穿刺手术机器人从端的反馈力测量元件，即可对直线驱动电机所 需的驱动电压进行求解，通过主手的反向驱动实现手术机器人在线性自由度方向上的主从力反馈控制。
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种基于球关节驱动的穿刺手术机器人主手，其特征在于，该穿刺机器人主手包括手柄(13)、直线驱动电机(2)和球关节驱动电机(1)，其中，
    所述手柄(13)固定连接于所述直线驱动电机(2)上，所述球关节驱动电机固定连接于所述直线驱动电机的下端，当所述手柄上施加轴向力时，该轴向力驱动所述直线驱动电机沿轴向做轴向直线运动，所述直线驱动电机的轴向行程作为穿刺机器人从手的行程指令；当所述手柄上施加旋转力时，该旋转力带动所述球关节驱动电机(1)绕其自身球心旋转，所述球关节驱动电机的旋转姿态作为穿刺机器人从手的姿态控制指令。
  2. 如权利要求1所述的一种基于球关节驱动的穿刺手术机器人主手，其特征在于，所述球关节驱动电机(1)包括球形转子(4)和设置在该形转子(4)球心处的球电机定子(7)，所述球电机定子(7)与所述球形转子连接，以此牵引所述球形转子绕所述球电机定子旋转。
  3. 如权利要求2所述的一种基于球关节驱动的穿刺手术机器人主手，其特征在于，所述球形转子(4)和球电机定子(7)之间通过球关节连接，该球关节(8)包括圆球部分和与长柄部分，所述圆球部分设置在所述球电机定子的球心处，所述长柄部分一端与所述圆球连接，另一端与所述球形转子连接。
  4. 如权利要求2或3所述的一种基于球关节驱动的穿刺手术机器人主手，其特征在于，所述机器人主手还包括基座(9)，所述球形转子上设置有开口，在该开口处，所述球电机定子(7)与所述球形转子(4)断开连接，与所述基座(9)连接。
  5. 如权利要求2或3所述的一种基于球关节驱动的穿刺手术机器人主手，其特征在于，所述球关节驱动电机(1)包括还包括球电机永磁体(5) 和球电机线圈(6)，所述球电机线圈(6)均匀分布在所述球形转子(4)的内表面，所述球电机定子(7)设置在所述球形转子(4)内部，所述球电机永磁体(5)一一对应所述球电机线圈(6)，均匀分布在所述球电机定子(7)上，在不同位置处的所述球电机线圈中通入电流后，该球形电机线圈与其对应的球形电机永磁体之间产生电磁力，该电磁力反馈至所述手柄上。
  6. 如权利要求1或2所述的一种基于球关节驱动的穿刺手术机器人主手，其特征在于，所述直线驱动电机(2)包括直线电机外壳(10)、直线电机线圈(12)和直线电机永磁体(11)，所述直线电机外壳(10)呈线性，所直线电机线圈(12)均匀分布在所述直线电机外壳(10)内，所述直线电机永磁体(11)设置在所述直线电机线圈(12)上，且与所述直线电机线圈(12)相对设置，所述手柄与所述直线电机永磁体固定连接，手柄沿带动所述直线驱动电机轴向运动时，带动所述直线电机永磁体运动；在所述直线电机线圈(12)中通入电流，直线电机线圈和永磁体之间产生电磁力并反馈至所述手柄上。
  7. 一种穿刺手术机器人系统，其特征在于，该机器人系统包括权利要求1-6任一项所述的机器人主手、行程和姿态传感器、控制器、机器人从手和穿刺针，其中：
    所述行程和姿态传感器与所述机器人主手相连，用于采集所述直线驱动电机和球形驱动电机的行程和姿态信息，并将该行程和姿态信息传递给所述控制器；
    所述控制器同时与所述行程和姿态传感器和机器人从手连接，用于将所述行程和姿态传感器采集的信息转化为所述机器人从手的行程指令和姿态指令；
    所述机器人从手用于夹持所述穿刺针，并根据所述行程指令和姿态指令带动所述穿刺针进行穿刺手术。
  8. 如权利要求7所述的机器人系统，其特征在于，该机器人系统还包括阻力传感器，该阻力传感器用于测量所述穿刺针受到的阻力，并将测量的阻力传递给所述控制器；所述控制器根据所述阻力转化为电信号，并依据该电信号向所述直线驱动电机和球关节驱动电机中通入相应的电流，以此在所述直线驱动电机和球关节驱动电机中形成与所述阻力相应的电磁力，实现力的反馈。
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